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Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass

机译：基于IMU的船舶质量和质心在线估计建模

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A ship's roll dynamics is very sensitive to changes in the loading conditions and a worst-case scenario is the loss of stability. This paper proposes an approach for online estimation of a ship's mass and center of mass. Instead of focusing on a sensor-rich environment where all possible signals on a ship can be measured and a complete model of the ship can be estimated, a minimal approach is adopted. A model of the roll dynamics is derived from a well-established model in literature and it is assumed that only motion measurements from an inertial measurement unit together with measurements of the rudder angle are available. Furthermore, identifia-bility properties and disturbance characteristics of the model are presented. Due to the properties of the model, the parameters are estimated with an iterative instrumental variable approach to mitigate the influence of the disturbances and it uses multiple datasets simultaneously to overcome identifiability issues. Finally, a simulation study is presented to investigate the sensitivity to the initial conditions and it is shown that the sensitivity is low for the desired parameters.
机译：船舶的侧倾动力学特性对载荷条件的变化非常敏感，最坏的情况是失去稳定性。本文提出了一种在线估计船舶质量和质心的方法。而不是专注于可以在船上测量所有可能信号并可以估算船的完整模型的传感器丰富的环境，而是采用了最小限度的方法。侧倾动力学的模型是从文献中公认的模型中得出的，并且假定只有来自惯性测量单元的运动测量以及舵角的测量可用。此外，给出了模型的可识别性和扰动特性。由于模型的特性，使用迭代工具变量方法估计参数以减轻干扰的影响，并且它同时使用多个数据集来克服可识别性问题。最后，提出了一个仿真研究来研究对初始条件的敏感性，结果表明对于所需参数而言敏感性较低。

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